On control mechanism of human-like reaching movements with musculo-skeletal redundancy

Kenji Tahara, Zhi Wei Luo, Suguru Arimoto

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

18 被引用数 (Scopus)

抄録

This paper focuses on a sensory-motor control mechanism in human reaching movements from the perspective of robotics. By formulating a musculo-skeletal redundant system which takes into account a nonlinear muscle property and performing numerical simulations, we suggest that the human-like reaching movements can be realized by using only simple task-space feedback scheme together with the internal force effect coming from nonlinear property of muscles without any complex mathematical computation such as an inverse dynamics or some optimal trajectory derivation. Firstly, we introduce both kinematics and dynamics of a three-link serial manipulator with six monoarticular muscles and three biarticular muscles model whose movements are limited within a horizontal plane. Secondly, the nonlinear muscle property coming from a physiological study based on Hill's muscle model, is taken into consideration. This nonlinearity makes it possible to modulate the damping effect in joint-space by considering the internal force generated by the redundant muscles. By utilizing this feature, the end-point converges to the desired point using only simple task-space feedback control scheme, even thought the system owns both the joint and muscle redundancies. Finally, we illustrate numerical simulations to show the effectiveness of the control scheme, and suggest one of the direction to study brain-motor control mechanism of human movements.

本文言語英語
ホスト出版物のタイトル2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
ページ1402-1409
ページ数8
DOI
出版ステータス出版済み - 12 1 2006
外部発表はい
イベント2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, 中国
継続期間: 10 9 200610 15 2006

出版物シリーズ

名前IEEE International Conference on Intelligent Robots and Systems

その他

その他2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
国/地域中国
CityBeijing
Period10/9/0610/15/06

All Science Journal Classification (ASJC) codes

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

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